Wire-guide nozzle assembly for a robotic tig welding torch

ABSTRACT

The invention relates to a wire-guide/nozzle assembly ( 11, 13 ) for an electric arc welding torch, comprising at least one nozzle ( 11 ) for delivering gas and at least one wire-guide system ( 13 ) for guiding at least one consumable wire, characterized in that the downstream end ( 20 ) of the wire-guide system ( 13 ) runs into the nozzle ( 11 ). The peripheral wall of the nozzle ( 11 ) has at least one cut-out ( 10 ) through which the wire-guide system ( 13 ) passes. The wire-guide system ( 13 ) is fastened to the nozzle ( 11 ). The TIG welding torch comprises a wire-guide/nozzle assembly ( 11, 13 ).

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. application Ser. No.10/798,761, filed Mar. 11, 2004, the entire contents of which areincorporated herein by reference.

BACKGROUND

The present invention relates to an automatic TIG welding torch with anintegrated consumable-wire feed dedicated to robotic welding.

A TIG (Tungsten Inert Gas) welding torch fed with welding wireconventionally is in the form of a one-piece body provided with internalarrangements suitable for implementing the welding process to which thistorch is dedicated.

Torches may be straight or bent, that is to say the beam leaves alongthe axis of the torch in the case of a straight torch or perpendicularto the axis of the torch in the case of a bent torch.

In the rear part of the torch, usually called the torch support ormounting, there are flexible or semi-rigid fluid feed lines that areconnected to the torch body by a connection system specific to each typeof line.

The power supply cables are grouped together by mechanical means,usually by screwing them to the corresponding circuits of the torch,except in the case of liquid- or gas-cooled cables, which are thereforeattached appropriately.

A flexible tubular sheath, attached to the rear of the torch by a clipor the like, groups together the cable bundle so as to protect it.

The front part of the torch, again called the torch body, comprises anozzle for delivering the shielding gas, which nozzle is attached to thetorch body by screwing or by any other gripping or similar system, andalso an electrode.

The nozzle may be made of metal and may or may not be cooled by acooling fluid, such as water or a gas; in this case, the nozzle must beelectrically insulated from the torch body.

However, the nozzle may also be made of a suitable uncooled insulatingmaterial, for example a ceramic.

Moreover, the electrode, usually made of pure tungsten or thoriatedtungsten, is held centered in the torch body by a gripping system or thelike, in such a way that the nozzle forms a sleeve around the electrode.

Furthermore, a consumable wire feed system is generally providedindependently of the torch, that is to say it is firmly attached to thetorch body or to the torch support, the torch support being the memberthat connects the torch to the device for moving it.

Conventionally, as shown in FIG. 1, the filler wire is fed into the weldpool by the feed system 3 tangentially or almost tangentially to theliquid metal, at the rear of the electrode 2 surrounded by the nozzle 1,in the welding direction. Under these normal conditions, the angle Bdefined by the electrode 2 and the filler wire 3 is about 85° to 90°.

However, it turns out in practice that this type of torch is notsuitable for robotic TIG welding as it has several drawbacks.

Thus, although the tangential wire feed is perfectly suitable for anautomatic TIG welding process in rigs with parallel jaws, the same isnot true in robotic welding in which the aspect of space requirement isof paramount importance in order to weld in any position.

However, it will be readily understood that having a consumable-wirefeed system that is provided independently of the torch increases theoverall size of the assembly, which goes counter to practical use inrobotic welding.

In addition, control of the position of the filler wire relative to thewelding direction requires the use of an additional axis of the robot,which complicates the unit, increases its cost and is a source ofbreakdowns.

Moreover, in TIG welding, it is necessary to use a perfectly sharpened,that is to say pointed, electrode in order to obtain a consistent andreproducible result.

To do this, the electrode must be regularly resharpened in order tocompensate for its wear, or even completely replaced if its wear hasbecome too great.

This operation requires the operator to stop the machine, remove theelectrode, sharpen or replace it, then refit it and, finally, preciselyadjust the respective positions of the electrode and the wire so as torelocate the precise position of the wire at the rear of the electrodeand tangentially to the welded joint.

It will be understood that this procedure requires the productionmachine to be stopped one or more times, to the detriment of theexpected performance of a robot used in two or three shifts, thisprocedure being lengthier the more accurate the positioning of theelectrode and the wire has to be.

In view of this, the problem presented is to provide an improvedwire-guide/nozzle assembly for an electric arc welding torch and animproved automatic TIG welding torch with consumable-wire feed that donot have the abovementioned drawbacks.

In other words, it is an object of the invention to propose a noveltorch architecture for TIG welding with filler wire that allows the wireto be easily and precisely positioned relative to the electrode.

The solution of the invention is a wire-guide/nozzle assembly for anelectric arc welding torch, comprising at least one nozzle fordelivering gas and at least one wire-guide system for guiding at leastone consumable wire, characterized in that the downstream end of thewire-guide system runs into the nozzle.

Depending on the case, the wire-guide/nozzle assembly of the inventionmay include one or more of the following technical features:

-   -   the peripheral wall of the nozzle has at least one cut-out        through which the wire-guide system passes;    -   the wire-guide system is fastened to the nozzle;    -   the axis of the wire-guide system at its downstream end and the        axis of the nozzle make, with each other, an angle between 10°        and 70°, preferably around 15° to 45°;    -   the wire-guide system is hollow and of oblong general shape,        preferably the wire-guide system has the shape of a hollow tube,        the internal diameter of which is between 0.6 mm and 2 mm;    -   the wire-guide system comprises a part parallel to the axis of        the nozzle followed by a curved part, the said parallel part and        the said curved part both being located outside the nozzle;    -   the distance separating the axis of the parallel part of the        wire-guide system from the axis of the nozzle is less than 30        mm;    -   the nozzle includes attachment means for attaching it to a        welding torch, preferably the attachment means comprise a thread        provided on the outer peripheral wall of the nozzle.

According to another aspect, the invention also relates to a TIG weldingtorch equipped with such a wire-guide/nozzle assembly.

Preferably, the torch furthermore includes a non-consumable electrodeplaced relative to the wire-guide/nozzle assembly in such a way that thewire conveyed by the wire guide penetrates the nozzle, going towards theelectrode at an angle between 5° and 50°, preferably between 10° and30°, to the axis of the electrode or of the nozzle, the wire and theelectrode lying in one and the same plane.

The torch also includes a mounting onto which the wire-guide/nozzleassembly is fitted in a predefined position.

According to yet another aspect, the invention relates to a roboticwelding unit comprising at least one robotic arm provided with such atorch.

The invention will now be explained in greater detail with reference tothe appended figures, in which:

FIG. 1 shows a side view of a wire feed configuration for a TIG torchaccording to the prior art;

FIG. 2 shows a top view of the mounting for a TIG torch according to theinvention;

FIGS. 3 and 4 show schematically, in side view, a wire-guide/nozzleassembly for an electric arc welding torch according to the invention;

FIGS. 5 and 6 are longitudinal sections through a torch according to theinvention; and

FIGS. 7 to 9 show schematically the possible orientations of thewire-guide/nozzle assembly of a torch according to the invention.

An arc welding torch according to the invention is made up of three mainsubassemblies, namely a torch support or mounting 27, a torch body 16and a nozzle 11 incorporating a wire-guide system 13 and forming aone-piece wire-guide/nozzle assembly.

The torch support or mounting supports all the fluid inlets, especiallyfor the supply and return of the coolant (water); the inlet for the gasor gases needed to implement the welding process; the connection for theelectrical power via one or more power cables, these being solid orliquid- or gas-cooled, their method of attachment depending on the cablein question; and the inlet for the filler-wire guiding sheath, thelatter coming in parallel to the geometrical axis of the torch, definedby the electrode.

The mounting 27 is fastened to the wrist of a robot system by means of asuitable mechanical component, which is itself mounted on a“shock-proof” safety device.

The mounting 27 receives, on the one hand, the torch body 16subassembly, to which the mounting delivers the fluids, that is to saythe gas and the cooling water, and also the electrical power via acontact socket intended to provide the electrical contact needed toimplement the welding process, and, on the other hand, the wire-guide13/nozzle 11 subassembly to which the mounting delivers the fillermetal, that is to say the consumable welding wire 14.

The design of the mounting 27 allows the wire-guide 13/nozzle 11subassembly to be positioned concentrically with the torch body 16subassembly in a position 30 chosen beforehand according to the weldingoperation to be carried out, these various positions 30 beingdistributed over a 270° ring, as shown diagrammatically in FIG. 2.

As shown in FIGS. 5 and 6, the torch body 16 receives the pure orthoriated tungsten electrode 12 produced in a cylindrical sinteredtungsten rod, sharpened at one of its ends.

The electrode 12 is held centered by a conventional retention system,such as a push- or pull-operated gripper system, an interlocking systemor the like.

The electrode 12 may also be made up of two components, namely a supportmade of a copper alloy that supports a force-fitted, crimped or brazedpart made of pure or thoriated tungsten. In this case, the electrodethen becomes a consumable electrode that is replaced when it is wornout.

The torch body 16 may or may not be cooled by cooling liquid circuits(duct 23) made in the torch support.

The torch body 16 may also be equipped with an additional, central gascircuit—it is then equipped with an external nozzle placed around thenozzle 11 in order to implement a dual-flow TIG process.

The torch body 16 is inserted into the torch support or mounting 27coming into abutment (at 30) on a shoulder 31 of the said torch body 16,which shoulder 31 serves as a reference point for the position along theZ access. Once the torch body has been placed in abutment thereon, itmay be locked to the torch support 27 by a suitable mechanical device inorder to keep it in position, for example a locking ring, a cotter pinsystem or the like.

The wire-guide 13/nozzle 11 assembly is made up of a nozzle 11 and awire-guide system 13 that are fastened together, for example by brazing,screwing, bonding or welding.

As shown in detail in FIGS. 3 and 4, the nozzle 11 is a hollow metalcomponent of cylindrical general shape, which may or may not be cooledby a cooling liquid coming from the torch support 27 depending on thepower of the torch.

The nozzle 11 is fastened to the torch support 27 so as to be concentricwith the torch body 16, from which it is electrically isolated.

An axial adjustment device 15 allows the wire-guide 13/nozzle 11assembly to be precisely positioned relative to the electrode 12. Theadjustment device 15 comprises, for example, a tapped ring 15 thatcooperates with a part 18 of the torch body 16 and a thread 17 on theexternal peripheral wall of the upstream end of the nozzle 11.

The nozzle 11 receives the wire guide 13 for conveying the welding wire14.

The wire guide 13 is in the form of a tubular element, the insidediameter of which depends on the diameter of the wire 14 used.

The wire guide 13 runs along the outside of the nozzle 11 a shortdistance D from the said nozzle 11, being positioned parallel to thelatter, typically at a distance D of less than or equal to about 30 mm,as shown in FIG. 3. The distance D is the distance between the axis ofthe nozzle 11 and the axis of the tube 13 taken outside the nozzle 11 inthe region of that portion (part 24) of the wire guide 13 that isparallel or almost parallel to the axis of the nozzle 11, as may be seenin FIG. 3.

The tubular element 13 used for conveying the wire is bent (part 25)with a radius sufficient to allow semi-rigid wires 14 to pass through itwithout jamming or excess friction, and it is also profiled at itsdownstream end 20 facing the electrode 12.

The wire guide 13 is inserted into the nozzle 11 via a machined housingor cut-out 10 so that the wire 14 penetrates the nozzle 11, in thedirection of the electrode 12, preferably at an angle of between 10° and30° to the axis passing through the electrode 12 or the nozzle 11, thewire 14 and the electrode 12 lying in the same plane.

The geometry of the wire-guide 13/nozzle 11 assembly is such that theterminal part is minimal, that is to say the unguided part of the wireat the point where it leaves the wire guide as shown in FIG. 4—thedownstream end 20 of the wire guide 13 must in no case come intomechanical contact with the electrode 12 or the torch body 16, as shownin FIGS. 3 and 4.

The end of the filler wire 14 enters the anode spot 22 created by theelectric arc during implementation of the TIG process, irrespective ofthe arc voltage obtained for a gas corresponding to a given work height.

The filler wire 14 must be delivered in such a way that the end of thesaid wire 14 grazes a sharpened end of the electrode 12, that is to sayapproaches it to within a distance that must preferably not be less thanthe diameter of the filler wire 14.

The torch of the invention is therefore of one-piece form, that is tosay a TIG torch with a wire-guide system 13 partly integrated into thenozzle 11, and therefore does not require an additional axis to guidethe wire 14 relative to the plane of the joint to be produced, making itvery practical to integrate into a robotic welding arm.

The presetting of the electrode 12 in the electrode holder 19 and theadjusting of the nozzle 11 with the integrated wire guide 13 ensure thatthe wire 14 is precisely positioned relative to the electrode 12 in sucha way that it always arrives in the anode spot of the arc.

The preset electrode holder 19 allows this module to be rapidly changedwithout the need for resetting along the Z axis of the robot.

The electrode holder 19 may be arranged so as to shield the electrode 12with a shielding gas and therefore provide operating conditions similarto those of a TIG welding process with two concentric gas streams.

Moreover, the torch may operate in arc-voltage self-regulation mode,this being ensured directly by the robot.

Furthermore, the torch may also be equipped with an industrialjoint-monitoring system of the mechanical or optical type, for exampleone using a laser with a CCD (Charge Coupled Device) camera.

The wire pay-out device may operate continuously or alternately,depending on the applications and the technologies that are available.

Welding trials have demonstrated that the welding assembly comprisingthe robotic torch described above can work in various geometricalpositions in space.

If we consider the wire/electrode plane and the angle that the wire 14makes with the electrode 12, the assembly is capable of working in theconfigurations shown in FIGS. 7 to 9, namely:

-   -   the vertical wire/electrode plane in the welding direction        (FIG. 7) with either the electrode vertical and the wire coming        in at the side at a fixed defined angle (diagram on the left in        FIG. 7), or with the wire coming in vertically and the electrode        being inclined to the side at a fixed defined angle (diagram in        the middle of FIG. 7) or with the vertical axis passing through        the bisector of the angle between the axis of the wire and the        axis of the electrode (diagram on the right in FIG. 7);    -   wire/electrode plane inclined at an angle B (cf. FIG. 8, ranging        from 0° to 90° relative to the vertical axis in the welding        direction) with either the electrode vertical and the wire        coming in at the side at the fixed defined angle (diagram on the        left in FIG. 8), or the wire coming in vertically and the        electrode being inclined to the side at the fixed defined angle        (diagram in the middle of FIG. 8) or the vertical axis passing        through the bisector of the angle between the wire and the        electrode (diagram on the right in FIG. 8). All these angles        accept a wide tolerance of approximately ±5°. Irrespective of        the configuration adopted, the wire is preferably delivered        behind the electrode 12 in the direction of advance of the        welding, but the reverse position, that is to say with the wire        coming in ahead of the electrode in the direction of advance,        can also be used; and    -   wire/electrode plane perpendicular to the welding direction (see        FIG. 9) with either the electrode vertical and the wire coming        in at the same side at the construction angle, or with the        electrode inclined at a variable angle B, which may be up to        45°.

The current delivered by the welding power supply may be a pulsed orunpulsed DC current in the case of carbon or stainless steels andnickel-, titanium/zirconium- and tantalum-based alloys, or an AC orvariable-polarity current for welding aluminum- or magnesium-based lightalloys.

Moreover, the pay-out of the filler wire 14 used in the torch may becontinuous or pulsed by a movement rate-regulated for example by amechanical device of the connecting rod, crank or other type ofmechanical device, or by an electronic device for controlling thepay-out motor.

As already mentioned, the torch of the invention may be designed tooperate in a TIG welding process of the single or dual gas flow type.

The welding torch of the invention can be used to join together, bywelding or braze-welding, various elements consisting of metal sheets orplates ranging in thickness from 0.5 mm to 4 mm made of carbon steel,both uncoated and coated (galvanized or electrogalvanized), made offerritic or austenitic stainless steel, or made of an aluminum ormagnesium light alloy.

Depending on the envisaged use, the filler wire may be made of non-alloyor low-alloy steel, ferritic or austenitic stainless steel, nickel ornickel alloy, pure copper or copper alloy, or aluminum or aluminumalloy.

The welding torch of the invention is designed so as to be able to fitinto an automated welding robot for welding a very wide variety ofcomponents or workpieces, especially workpieces intended for theautomobile industry, especially aluminum or aluminum alloy bodies orbody components, bonnets, boot lids, doors and floor connections andferritic or austenitic stainless steel exhaust systems, but also forother industries such as the motorcycle industry, especially for weldingaluminum or aluminum alloy bike frames, or else for manufacturing steelor light alloy scaffolding or ladders.

The torch of the invention can be used more generally for carrying outany welding operation that requires an attractive weld bead to beobtained.

As an example, a torch according to the invention can produce qualitywelds under the conditions given in the following table. TABLE ThicknessI U Standard Welding Material (in mm) (A) (V) DC current Gas V_(weld)V_(wire) Wire configuration Stainless 1 120 13 Smooth Arcal 1 1.8Nertalic 50 Lap weld Steel 31 Ø1 Bare steel 1 150 11.5 30 Hz Noxal 2 12.7 Nertalic 46 Lap weld Pulsed CuAl8 Ø1 Galvanized 1 150 12.5 30 HzNoxal 2 12 2.7 Nertalic 46 Lap weld steel Pulsed CuAl8 Ø1Arcal 31 is a gas sold by Air Liquide, consisting of 95% argon +5% helim(% by volume);Noxal 2 is a gas sold by Air Liquide, consisting of 97.5% argon +2.5%hydrogen;Nertalic 50 is a wire sold by La Soudure Autogène Francaise of thelow-carbon stainless steel type according to the AFNOR 81-313, DIN1.4316 or AWS ER308Lsi standard; andNertalic 46 is a wire sold by La Soudure Autogène Francaise of thecopper-aluminum (CuAl8) type according to the DIN 1733 or AWS A5-7standard.

1. A robotic welding unit, comprising at least one robotic armcomprising a TIG welding torch which has a torch body and a tungstenelectrode which has a sharpened end, and said torch further comprisingat least one wire guide/nozzle assembly for an electric arc weldingtorch, comprising: a) at least one nozzle for delivering gas, saidnozzle comprising a first axis longitudinally oriented with said nozzle;and b) at least one wire-guide system for guiding at least oneconsumable wire which has a fusible extremity, said wire-guide systemcomprising a first section, said first section comprising the downstreamend of said wire-guide system, said first section further comprising asecond axis longitudinally oriented with said first section, whereinsaid downstream end directs said consumable wire into said nozzle,wherein said fusible extremity of consumable wire and said tungstenelectrode lie in one and the same plane, wherein said nozzle furthercomprising a peripheral wall, said peripheral wall having at least onecut-out through which said wire-guide system passes, wherein said firstaxis and said second axis are oriented at an angle between about 5° andabout 50° relative to each other, wherein said wire is guided in such amanner that an end of said wire grazes said sharpened end of saidtungsten electrode and then enters into an electrical spot created bysaid tungsten electrode on at least one piece to be welded, and whereinsaid torch body comprises cooling liquid circuits suitable for coolingsaid torch body.
 2. The unit of claim 1, further comprising a torchsupport, wherein said torch body is inserted into said torch support,and said cooling liquid circuits are disposed in said torch support. 3.The unit of claim 1, wherein said cooling liquid circuits comprise aduct.
 4. A robotic welding unit, comprising at least one robotic armcomprising a TIG welding torch which has a torch body and a tungstenelectrode which has a sharpened end, and said torch further comprisingat least one wire guide/nozzle assembly for an electric arc weldingtorch, comprising: a) at least one nozzle for delivering gas, saidnozzle comprising a first axis longitudinally oriented with said nozzle;and b) at least one wire-guide system for guiding at least oneconsumable wire which has a fusible extremity, said wire-guide systemcomprising a first section, said first section comprising the downstreamend of said wire-guide system, said first section further comprising asecond axis longitudinally oriented with said first section, whereinsaid downstream end directs said consumable wire into said nozzle,wherein said fusible extremity of consumable wire and said tungstenelectrode lie in one and the same plane, wherein said nozzle furthercomprising a peripheral wall, said peripheral wall having at least onecut-out through which said wire-guide system passes, wherein said firstaxis and said second axis are oriented at an angle between about 5° andabout 50° relative to each other, wherein said wire is guided in such amanner that an end of said wire grazes said sharpened end of saidtungsten electrode and then enters into an electrical spot created bysaid tungsten electrode on at least one piece to be welded, and whereinsaid nozzle is cooled by a cooling liquid.
 5. The unit of claim 4,further comprising a torch support, wherein said torch body is supportedby said torch support, and said cooling liquid comes from said torchsupport.
 6. A robotic welding unit, comprising at least one robotic armcomprising a TIG welding torch which has a torch body and a tungstenelectrode which has a sharpened end, and said torch further comprisingat least one wire guide/nozzle assembly for an electric arc weldingtorch, comprising: a) at least one nozzle for delivering gas, saidnozzle comprising a first axis longitudinally oriented with said nozzle;and b) at least one wire-guide system for guiding at least oneconsumable wire which has a fusible extremity, said wire-guide systemcomprising a first section, said first section comprising the downstreamend of said wire-guide system, said first section further comprising asecond axis longitudinally oriented with said first section, whereinsaid downstream end directs said consumable wire into said nozzle,wherein said fusible extremity of consumable wire and said tungstenelectrode lie in one and the same plane, wherein said nozzle furthercomprising a peripheral wall, said peripheral wall having at least onecut-out through which said wire-guide system passes, wherein said firstaxis and said second axis are oriented at an angle between about 5° andabout 50° relative to each other, wherein said wire is guided in such amanner that an end of said wire grazes said sharpened end of saidtungsten electrode and then enters into an electrical spot created bysaid tungsten electrode on at least one piece to be welded, wherein saidtorch body comprises cooling liquid circuits suitable for cooling saidtorch body, and wherein said nozzle is cooled by a cooling liquid. 7.The unit of claim 6, further comprising a torch support wherein saidtorch body is supported by said torch support said cooling liquidcircuits are also disposed in said torch support, and wherein saidcooling liquid comes from said torch support.
 8. A robotic process forwelding or braze-welding two metallic pieces together comprising thesteps of: a) providing the robotic welding unit of claim 1, b) feedingthe TIG torch with a wire, c) guiding the wire in such manner that anend of said wire grazes the sharpened end of the tungsten electrode andthen enters into an electrical spot created by the tungsten electrode onat least one of the pieces to be welded together by the electric arc, d)fusing the wire thereby welding or braze-welding the metallic piecestogether, and e) cooling the torch body.
 9. A robotic process forwelding or braze-welding two metallic pieces together comprising thesteps of: a) providing the robotic welding unit of claim 4, b) feedingthe TIG torch with a wire, c) guiding the wire in such manner that anend of said wire grazes the sharpened end of the tungsten electrode andthen enters into an electrical spot created the tungsten electrode on atleast one of the pieces to be welded together by the electric arc, d)fusing the wire thereby welding or braze-welding the metallic piecestogether, and e) cooling the nozzle.
 10. A robotic process for weldingor braze-welding two metallic pieces together comprising the steps of:a) providing the robotic welding unit of claim 6, b) feeding the TIGtorch with a wire; c) guiding the wire in such manner that an end ofsaid wire grazes the sharpened end of the tungsten electrode and thenenters into an electrical spot created the tungsten electrode on atleast one of the pieces to be welded together by the electric arc, d)fusing the wire thereby welding or braze-welding the metallic piecestogether, and e) cooling the torch body and the nozzle.